Distributed backstepping based control of multiple UAV formation flight subject to time delays - Kartal, Yusuf; Subbarao, Kamesh; Gans, Nicholas R; Dogan, Atilla; Lewis, Frank (IET control theory & applications, 2020)
Keywords: actual flight test experiments; adaptive control; attitude control; autonomous aerial vehicles; backstepping‐based outer position controller design; cascade control; cascaded control system; centralised formation control; closed loop systems; closed‐loop stability; communication network; control algorithms; control system synthesis; delays; delay‐independent; directed graph; directed graphs; distributed backstepping based control; distributed backstepping structure; distributed control; distributed formation control method; distributed network time delays; inner attitude controller; linear attitude control loop; linear systems; Lyapunov methods; Lyapunov–Krasovskii analysis; mathematical model; mobile robots; multiple UAV formation flight; multiple unmanned aerial vehicles; multi‐robot systems; nonlinear control systems; nonlinear position control loop; position control; propellers; Research Article; stability; stability criteria; stability criterion; distributed network time delays; distributed formation control method; multi-robot systems; centralised formation control; mobile robots; distributed backstepping structure; cascade control; directed graph; attitude control; delay-independent; Lyapunov–Krasovskii analysis; position control; linear attitude control loop; distributed backstepping based control; backstepping-based outer position controller design; stability; actual flight test experiments; multiple UAV formation flight; communication network; distributed control; stability criterion; nonlinear position control loop; control system synthesis; adaptive control; stability criteria; linear systems; control algorithms; multiple unmanned aerial vehicles; closed-loop stability; cascaded control system; closed loop systems; propellers; autonomous aerial vehicles; directed graphs; delays; nonlinear control systems; inner attitude controller; mathematical model; Lyapunov methods